50 lines
2.1 KiB
Markdown
50 lines
2.1 KiB
Markdown
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# ORB-SLAM3
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Details of changes between the different versions.
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### V1.0, 22th December 2021
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- OpenCV static matrices changed to Eigen matrices. The average code speed-up is 16% in tracking and 19% in mapping, w.r.t. times reported in the ORB-SLAM3 paper.
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- New calibration file format, see file Calibration_Tutorial. Added options for stereo rectification and image resizing.
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- Added load/save map functionalities.
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- Added examples of live SLAM using Intel Realsense cameras.
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- Fixed several bugs.
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### V0.4: Beta version, 21st April 2021
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- Changed OpenCV dynamic matrices to static matrices to speed up the code.
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- Capability to measure running time of the system threads.
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- Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0).
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- Fixed minor bugs.
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### V0.3: Beta version, 4th Sep 2020
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- RGB-D compatibility: the RGB-D examples have been adapted to the new version.
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- Kitti and TUM dataset compatibility: these examples have been adapted to the new version.
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- ROS compatibility: updated the old references in the code to work with this version.
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- Config file parser: the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrongly deffined or does not exist.
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- Fixed minor bugs.
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### V0.2: Beta version, 7th Aug 2020
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Initial release. It has these capabilities:
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- Multiple-Map capabilities: it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
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- Inertial sensor: the IMU initialization takes 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until it is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
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- Fisheye cameras: cameras with wide-angle and fisheye lenses are now fully supported in monocular and stereo.
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